Kinematics analysis of a 3-DOF hydraulic driven parallel mechanism

Zhang, Fangfang; Li, Jian Dong; Jiang, Ziliang; Wang, Cuntang; Zhang, Zhentao

doi:10.1088/1757-899x/324/1/012048

Cited by 3 publications

(1 citation statement)

References 8 publications

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“…Philip Ethelbert Smit designed a 3-DoF motion platform and analyzed electric drive and hydraulic drive motion control in 2010 [6]. Zhang et al provided the basics about the selection of parts for the mechanical design of a 3-DoF parallel mechanism, such as hydraulic cylinders, and valves [7]. The design solution, kinematic structure, simulation, and experimental control tests of a hydraulically actuated 3-DoF translational parallel manipulator were also presented by scholars [8].…”

Section: Introductionmentioning

confidence: 99%

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Pan

Sun

et al. 2021

Applied Sciences

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This paper developed a rotatable multi-axis motion platform combined with virtual reality (VR) immersion for flight simulation purposes. The system could simulate the state of the flight operation. The platform was mainly comprised of three crank linkage mechanisms to replace an expensive six degrees of freedom (DoF) Stewart platform. Then, an independent subsystem which could rotate ±180° was installed at the center of the platform. Therefore, this platform exhibited 4-DoF movement, such as heave, roll, pitch, and yaw. In the servo motor control unit, Visual Studio C# was applied as the software to establish a motion control system to interact with the motion controller and four sets of servo motors. Ethernet Control Automation Technology (EtherCAT) was utilized to communicate the commands and orders between a PC and each servo motor. The optimum controller parameters of this system were obtained using Simulink simulation and verified by experiment. The multiple sets of servo motors and crank linkage mechanisms were synchronized with flight VR imagery. For VR imagery, the software Unity was used to design the flying digital content. The controller was used to transmit the platform’s spatial information to meet the direction of the pilot commands and to compensate the direction of the deviation in spatial coordinates. To achieve synchronized response and motion with respect to the three crank linkage mechanism platform and VR imagery on the tester’s goggle view, the relation of the spatial coordinate of VR imagery and three crank linkage mechanisms was transformed to angular displacement, speed and acceleration which were used to command the motor drive system. As soon as the position of the VR imagery changed, the computer instantly synchronized the VR imagery information to the multi-axis platform and performed multi-axis dynamic motion synchronously according to its commanded information. The testers can thus immerse in the VR image environment by watching the VR content, and obtain a flying experience.

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Section: Introductionmentioning

confidence: 99%

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Pan

Sun

et al. 2021

Applied Sciences

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Design of a hydraulically actuated 3-DoF translational parallel manipulator

Dindorf¹,

Woś²

2019

AIP Conference Proceedings

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Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

Zhang

Jiang

et al. 2020

MENG

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Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

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Kinematics analysis of a 3-DOF hydraulic driven parallel mechanism

Cited by 3 publications

References 8 publications

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Development of Multi-Axis Crank Linkage Motion System for Synchronized Flight Simulation with VR Immersion

Design of a hydraulically actuated 3-DoF translational parallel manipulator

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

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